Rockwell Automation 1391ES AC Servo Controller - Manual (Page 36)

Inputs, Outputs and Adjustments
Chapter 5
5-34
Configuration Switch - S2
Prior to start-up, the switch positions of S2 must be checked against the
listing in Table 5.D to ensure proper setting. Refer to the paragraphs
following the table for switch descriptions.
ATTENTION: Only personnel familiar with the 1391B-ES
controller and its associated machinery should plan or
implement the adjustment, calibration, start-up and subsequent
maintenance of the controller. Failure to comply may result in
personal injury and/or equipment damage.
ATTENTION: An incorrectly applied or calibrated controller
can result in component damage or a reduction in product life.
Wiring or application errors, such as, undersizing the motor,
incorrect or inadequate AC supply, or excessive ambient
temperatures may result in malfunction of the controller.
!
!
Table 5.D
S2 Switch Descriptions (* Denotes factory setting for 1326AB motors)
Switch
S2-1
S2-2
S2-3
S2-4
S2-5
S2-6
S2-7, 8
S2-9, 10
S2-11, 12
Function
Tachometer Scaling
I
D
Cut In
I
D
Magnitude
Drive OK / Drive
Ready
Torque Block / Veloc-
ity Loop Operation
Velocity Loop
Compensation
Error Amp Gain
Tachometer Filter
Staircase Filtering
Description/Setting
ON 1.2V / krpm 1326AB-Axx and 1326AD motors
OFF 2.0 / krpm 1326AB-Bxx & 1326AB-Cxx motors up to 4000 rpm*
See Table 5.E
ON 1326AB motors*
OFF 1326AD motors
ON DROK closes if no faults are detected and the bus voltage is up*
OFF DROK closes if no faults are detected, with or without bus voltage
ON Torque block operation
OFF Velocity loop operation*
ON Reduces integral gain (bandwidth) for high inertia systems
OFF Normal gain*
Reduces velocity loop gain when running 1326AD motors
S2-7
S2-8 Gain Reduction
OFF OFF None*
OFF ON 33%
ON OFF 33%
ON ON 50%
Additional filtering in tach feedback circuit for mechanical resonances, etc.
S2-9
S2-10 Filter Bandwidth
OFF OFF 430 Hz*
OFF ON 284 Hz
ON OFF 204 Hz
ON ON 165 Hz
Introduces additional filtering to the velocity command from positioning controller to
minimize staircasing effects from the DAC output
S2-11
S2-12 Filter Bandwidth
OFF OFF – *
OFF ON 159 Hz
ON OFF 159 Hz
ON ON 79 Hz